This paper addresses a UAV path planning task that seeks to observe a set of objects while satisfying the observation quality constraint. A dynamic programming algorithm is proposed that enables the UAV to observe the target objects with shortest path while subjecting to the observation quality constraint. The objects have their own facing direction and restricted observation range. With an observing order, the algorithm achieves (1+$\epsilon$)-approximation ratio in theory and runs in polynomial time. The extensive results show that the algorithm produces near-optimal solutions, the effectiveness of which is also tested and proved in the Airsim simulator, a realistic virtual environment.

翻译：本文研究了一种旨在观测一组目标物体且满足观测质量约束的无人机路径规划任务。提出了一种动态规划算法，使无人机在满足观测质量约束的条件下，能以最短路径观测目标物体。这些目标物体具有各自的朝向方向和受限的观测范围。在给定观测顺序的前提下，该算法在理论上达到了(1+ε)-近似比，且运行时间为多项式时间。大量实验结果表明，该算法能够生成接近最优的解，其有效性在真实虚拟环境AirSim仿真器中得到测试与验证。